Transfer Alignment Method and Realization of SINS on Moving Base Based on Kalman Filter

As a precondition for the navigation system to achieve the high-precision navigation, the initial alignment of the strapdown inertial navigation system (SINS) estimates the navigation parameter errors and corrects the orientation cosine matrix by adopting the Kalman filtering method on the basis of the inertial navigation error equations. This paper focuses on the study of the initial fine alignment based on the Kalman filtering method, in which the commonly used filtering state equations are provided and the “velocity matching” method is used to compensate the INS error model and error state estimation, thus improving the precision of initial alignment. The feasibility of the initial alignment technology is also proved by the mathematical simulation and the carrying test flight on Y-5 aircraft. This method basically meets the requirements of engineering application, by which the errors can be converged into a steady state within 20 seconds.